CN115963467B

CN115963467B - Processing method and device for frequency modulation waveform parameters and computer equipment

Info

Publication number: CN115963467B
Application number: CN202310250714.7A
Authority: CN
Inventors: 姜薇; 郑巧珍; 于晓爽
Original assignee: Foss Hangzhou Intelligent Technology Co Ltd
Current assignee: Foss Hangzhou Intelligent Technology Co Ltd
Priority date: 2023-03-16
Filing date: 2023-03-16
Publication date: 2023-06-06
Anticipated expiration: 2043-03-16
Also published as: CN115963467A

Abstract

The application relates to a processing method and device for frequency modulation waveform parameters and computer equipment. The method comprises the following steps: acquiring radar echo signals of a target simulator under at least two groups of simulation parameters of different types; acquiring a parameter index value set of a target simulator in each range-Doppler spectrogram according to the range-Doppler spectrogram corresponding to each group of radar wave signals; performing step frequency modulation waveform parameter correction according to the first parameter index value set to obtain corrected first waveform parameters and corrected second waveform parameters; and correcting the third waveform parameter based on the corrected first waveform parameter, the second waveform parameter and the second parameter index value set to obtain a corrected third waveform parameter. The method can improve the accuracy of radar speed measurement and distance measurement.

Description

Processing method and device for frequency modulation waveform parameters and computer equipment

Technical Field

The present disclosure relates to the field of radar technologies, and in particular, to a method and an apparatus for processing a frequency modulation waveform parameter, and a computer device.

Background

With the development of radar technology, radar is widely used in various fields. For example, radar application can assist driving in the intelligent driving field, and reasonable path planning, obstacle avoidance and the like are realized through accurate positioning. Because the rapid development of intelligent driving technology requires advanced driving assistance systems to realize rich functions, the demand for vehicle millimeter wave radar performance is also increasing. The distance and speed measurement precision is an important index of the vehicle millimeter radar, and in order to reduce the influence caused by the radar speed and distance measurement error, the precision of the radar speed and distance measurement needs to be improved.

In order to improve the accuracy of radar speed and distance measurement, the traditional mode is to collect a large amount of radar speed and distance measurement data, and to analyze the radar speed and distance measurement data to determine a distance compensation coefficient and a speed compensation coefficient. The distance compensation coefficient and the speed compensation coefficient are used for respectively compensating the distance and the speed, the radar speed measurement and the distance measurement in the processing mode cannot meet the requirements of practical application scenes, and the problems of complex data processing and low speed measurement and distance measurement precision exist.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a method, an apparatus, a computer device, a computer readable storage medium, and a computer program product for processing fm waveform parameters that can improve radar speed and range accuracy.

In a first aspect, the present application provides a method for processing a frequency modulated waveform parameter. The method comprises the following steps:

under the condition that the target simulator sets at least two groups of simulation parameters of different types, radar echo signals corresponding to the simulation parameters of the at least two groups of simulation parameters are obtained;

respectively determining a range-Doppler spectrogram corresponding to each group of radar echo signals to obtain a first parameter index value set and a second parameter index value set of the target simulator in the range-Doppler spectrogram; the first parameter index value set has a corresponding first estimated parameter error, and the second parameter index value set has a corresponding second estimated parameter error;

Performing step frequency modulation waveform parameter correction based on the first parameter index value set, and obtaining corrected first waveform parameters and corrected second waveform parameters under the condition that the first estimated parameter error is within a first preset error range;

and carrying out stepping frequency modulation waveform parameter correction based on the first waveform parameter, the second waveform parameter and the second parameter index value set, and obtaining a corrected third waveform parameter under the condition that the second estimated parameter error is within a second preset error range.

In one embodiment, the simulation parameters include a distance parameter and a speed parameter; under the condition that the target simulator sets at least two groups of simulation parameters of different types, acquiring radar echo signals corresponding to the simulation parameters of the at least two groups of simulation parameters respectively, wherein the method comprises the following steps:

acquiring radar echo signals corresponding to each distance parameter in a distance parameter set under the condition that the speed of a target simulator is at a set speed and the target simulator is arranged in the distance parameter set; and

and under the condition that the distance of the target simulator is a set distance and the target simulator is arranged in the speed parameter set, acquiring radar echo signals corresponding to each speed parameter in the speed parameter set.

In one embodiment, determining a range-doppler spectrum corresponding to each set of radar echo signals, respectively, to obtain a first parameter index value set and a second parameter index value set index value of the target simulator in the range-doppler spectrum, includes:

determining a first range-doppler spectrogram corresponding to the radar echo signals corresponding to the range-parameter set, and acquiring a first parameter index value set of the target simulator in the first range-doppler spectrogram; and

and determining a second range-Doppler spectrogram corresponding to the radar echo signals corresponding to the speed parameter set, and acquiring a second parameter index value set of the target simulator in the second range-Doppler spectrogram.

In one embodiment, the first set of parameter index values includes a first set of distance unit index values and a first set of speed unit index values; the first preset error range comprises a first preset distance error range and a first preset speed error range; the first estimation parameter error includes a distance error and a first speed error;

the step frequency modulation waveform parameter correction is performed based on the first parameter index value set, and when the first estimated parameter error is within a first preset error range, a corrected first waveform parameter and a corrected second waveform parameter are obtained, including:

Determining a first estimated distance corresponding to each first range bin index value in the first range bin index value set from the first range-doppler spectrogram;

determining a distance error of each first estimated distance and each corresponding first actual distance, and obtaining a corrected frequency modulation slope when the distance error is within the first preset distance error range;

acquiring the wavelength, the center frequency and the number of sweep frequency periods of the stepping frequency modulation waveform;

determining a first estimated speed corresponding to each first speed unit index value in the first speed unit index value set based on the wavelength, the center frequency, the number of sweep cycles, the frequency modulation slope, the first distance unit index value set and the first speed unit index value set;

and determining a first speed error of each first estimated speed and each corresponding first actual speed, and obtaining a corrected stepping frequency when the first speed error is within the first preset speed error range.

In one embodiment, the determining the distance error between each of the first estimated distances and the corresponding first actual distance, when the distance error is within a first preset distance error range, obtains a corrected fm slope, includes:

Determining a loss function between each first estimated distance and a first actual distance corresponding to each first estimated distance; the argument parameter of the loss function comprises a first waveform parameter;

fitting each distance error based on the loss function, and obtaining a target fitting parameter when each distance error is within a first preset distance error range;

and determining the corrected frequency modulation slope according to the target fitting parameters.

In one embodiment, the first parameter index value set includes a first distance unit index value set and a first speed unit index value set, and the first preset error range includes a first preset distance error range and a first preset speed error range; the first estimation parameter error includes a distance error and a first speed error;

determining a first estimated distance corresponding to each first range bin index value in the first range bin index value set from the first range-doppler spectrogram under the condition that the first estimated parameter error is within a first preset error range;

Performing bias derivation on the independent variable parameters in the preset loss function based on the preset loss function, the first estimated distance and the first actual distance corresponding to the first estimated distance, and obtaining a target independent variable parameter value when the loss function value of the preset loss function is minimum;

determining a corrected frequency modulation slope according to the target independent variable parameter value;

and determining the corrected step frequency according to the first speed unit index value set, the wavelength of the step frequency modulation waveform, the center frequency of the step frequency modulation waveform, the number of sweep frequency cycles and the first estimated distance.

In one embodiment, the second set of parameter index values includes a second set of distance unit index values and a second set of speed unit index values, and the second preset error range includes a second preset speed error range; the second estimated parameter error comprises a second speed error;

the step frequency modulation waveform parameter correction is performed based on the first waveform parameter, the second waveform parameter and the second parameter index value set, and a corrected third waveform parameter is obtained when the second estimated parameter error is within a second preset error range, including:

Determining a second estimated speed corresponding to each second speed unit index value in the second speed unit index value set based on the frequency modulation slope, the step frequency, the second distance unit index value set, and the second speed unit index value set;

and determining a second speed error between each second estimated speed and each corresponding second actual speed, and obtaining a corrected sweep frequency period under the condition that the second speed error is within a second preset speed error range.

In one embodiment, the second set of parameter index values includes a second set of distance unit index values and a second set of speed unit index values, and the second estimated parameter error includes a second preset speed error range; the second preset error range includes a second preset speed error range; the second estimated parameter error comprises a second speed error;

the performing frequency modulation waveform parameter correction based on the first waveform parameter, the second waveform parameter and the second parameter index value set, and obtaining a corrected third waveform parameter when the second estimated parameter error is within a second preset error range, including:

Determining a corresponding second estimated distance according to each second distance unit index value in the second distance unit index value set under the condition that the second speed error is in the second preset speed error range;

and obtaining the corrected sweep frequency period according to the second estimated distance vector, the corrected frequency modulation slope, the corrected stepping frequency, the second parameter index value set, the wavelength, the central frequency and the period number.

In a second aspect, the present application further provides a processing apparatus for a frequency modulation waveform parameter. The device comprises:

the signal acquisition module is used for acquiring radar echo signals corresponding to at least two groups of different types of simulation parameters under the condition that the target simulator sets the at least two groups of different types of simulation parameters;

the signal processing module is used for respectively determining a range-Doppler spectrogram corresponding to each group of radar echo signals to obtain a first parameter index value set and a second parameter index value set of the target simulator in the range-Doppler spectrogram; the first parameter index value set has a corresponding first estimated parameter error, and the second parameter index value set has a corresponding second estimated parameter error;

The waveform parameter processing module is used for carrying out stepping frequency modulation waveform parameter correction based on the first parameter index value set, and obtaining a corrected first waveform parameter and a corrected second waveform parameter under the condition that the first estimated parameter error is within a first preset error range;

and carrying out stepping frequency modulation waveform parameter correction based on the first waveform parameter, the second waveform parameter and the second parameter index value set, and obtaining a corrected third waveform parameter under the condition that the second estimated parameter error is within a second preset error range. In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:

In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

In a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:

The processing method, the processing device, the computer equipment, the storage medium and the computer program product of the frequency modulation waveform parameters are characterized in that at least two groups of simulation parameters of different types are set through a target simulator, radar echo signals under the simulation parameters of different types are collected, and a range-Doppler spectrogram corresponding to the radar echo signals under the simulation parameters of different types is obtained. Further, corresponding parameter index value sets are obtained according to the distance Doppler spectrogram, the stepping frequency modulation waveform parameters are sequentially corrected according to the set sequence, deviation between waveform parameters used in radar echo signal processing and actual waveform parameters is eliminated, mutual coupling between the stepping frequency modulation waveform parameters is considered, speed measurement and distance measurement accuracy is improved, further, a large number of data processing analysis is not needed to obtain a distance compensation coefficient and a speed compensation coefficient, and data processing capacity is reduced.

Drawings

FIG. 1 is a diagram of an application environment of a method for processing parameters of a FM waveform according to one embodiment;

FIG. 2 is a flow chart illustrating a method for processing parameters of a FM waveform according to one embodiment;

FIG. 3 is a flow chart illustrating a method for modifying a first waveform parameter and a second waveform parameter according to an embodiment;

FIG. 4 is a flowchart illustrating steps for determining a modified chirp rate in one embodiment;

FIG. 5 is a flowchart of a method for modifying a first waveform parameter and a second waveform parameter according to another embodiment;

FIG. 6 is a flowchart of a method for correcting a third waveform parameter according to an embodiment;

FIG. 7 is a flowchart of a method for modifying a third waveform parameter according to another embodiment;

FIG. 8 is a flowchart of a method for processing parameters of a FM waveform according to another embodiment;

FIG. 9 is a schematic diagram of a target simulator distance estimation error before correction and a target simulator distance estimation error after correction in one embodiment;

FIG. 10 is a schematic diagram of a target simulator speed estimation error before correction and a target simulator speed estimation error after correction in one embodiment;

FIG. 11 is a schematic diagram showing a comparison of the step slope correction before and after the step slope correction in one embodiment;

FIG. 12 is a schematic diagram showing a comparison of the sweep period before and after correction in one embodiment;

FIG. 13 is a flowchart of a method for processing parameters of a FM waveform according to another embodiment;

FIG. 14 is a schematic diagram showing a comparison of the frequency modulation slope correction before and after correction and before and after addition of camera bellows fixed distance compensation in one embodiment;

FIG. 15 is a schematic diagram showing a comparison of the step frequency correction before and after another embodiment;

FIG. 16 is a schematic diagram showing the comparison of the sweep period before and after correction in another embodiment;

FIG. 17 is a block diagram of an apparatus for processing parameters of a FM waveform according to one embodiment;

fig. 18 is an internal structural view of a computer device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

As radar applications continue to spread, the demand for radar performance is also increasing. Taking the intelligent driving field as an example, in order to realize the diversification of the intelligent driving function, the requirement of the vehicle millimeter wave radar performance applied in intelligent driving is gradually increased. In order to improve the performance of the radar, the speed and distance measurement accuracy of the radar needs to be improved. At present, the speed measurement and distance measurement precision of the radar is improved, and the performance of the radar is improved by determining the compensation coefficient of the distance and the speed to compensate. The processing mode does not consider the mutual coupling of distance estimation and speed estimation, and has systematic deviation between theoretical waveform parameters used by a signal processing flow and waveform parameters of actual work of the radar, so that the measurement accuracy of the distance measurement and speed measurement accuracy is low, and the actual requirements cannot be met.

Aiming at the technical problem, a processing method of frequency modulation waveform parameters is provided. The processing method of the frequency modulation waveform parameters provided by the embodiment of the application can be applied to an application environment shown in fig. 1. Wherein the target simulator 102 and the terminal 104 communicate via a network. The data storage system may store data that the terminal 104 needs to process. The data storage system may be integrated on the terminal 104 or may be located on a cloud server or other network server. Under the condition that the target simulator sets at least two groups of simulation parameters of different types, radar echo signals corresponding to the simulation parameters of the at least two groups of different types are obtained; respectively determining a range-Doppler spectrogram corresponding to each group of radar echo signals to obtain a first parameter index value set and a second parameter index value set of a target simulator in the range-Doppler spectrogram; the first parameter index value set has a corresponding first estimated parameter error, and the second parameter index value set has a corresponding second estimated parameter error; performing step frequency modulation waveform parameter correction based on the first parameter index value set, and obtaining corrected first waveform parameters and corrected second waveform parameters under the condition that the first estimated parameter error is within a first preset error range; and carrying out stepping frequency modulation waveform parameter correction based on the first waveform parameter, the second waveform parameter and the second parameter index value set, and obtaining a corrected third waveform parameter under the condition that the second estimated parameter error is within a second preset error range. The terminal 104 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and internet of things devices.

In one embodiment, as shown in fig. 2, a method for processing parameters of a fm waveform is provided, and the method is applied to the terminal in fig. 1 for illustration, and includes the following steps:

step 202, under the condition that the target simulator sets at least two groups of simulation parameters of different types, radar echo signals corresponding to the simulation parameters of the at least two groups of different types are obtained.

The target simulator can be used for simulating radar echoes in different states, for example, the target simulator can be used for simulating radar echoes in different distances when the target simulator is in a static state; the target simulator can also be used for simulating radar echoes at different speeds when the target simulator is at a set distance. The target simulator simulates the radar echo and can be set according to the actual application scene, and the method is not limited herein. The simulation parameters may include distance parameters, speed parameters, and the like. The present example illustrates two sets of parameters, two sets of parameters illustrated as distance parameters and speed parameters.

Specifically, under the condition that the target simulator sets at least two groups of simulation parameters of different types, radar echo signals corresponding to the simulation parameters of the at least two groups of simulation parameters are obtained, and one group of radar echo signals corresponding to the simulation parameters of each group is obtained. The sequence of acquiring the radar echo signals corresponding to each of the at least two sets of different analog parameters may be acquired according to actual requirements, which is not limited herein. For example, radar echoes at different distances are set in a stationary state of the acquisition target simulator, and radar echoes at different speeds are set in a case where the acquisition target simulator is at a set distance.

It will be appreciated that the different distances set may be determined in accordance with a preset distance change step from a set start distance to a set end distance, for example, the distance set by the target simulator changes in step r_step from a start distance r_start to an end distance r_end (r=r_start: r_step: r_end) to obtain radar echoes at different distances set by the target simulator. The setting of different speeds may be determined in speed change steps from a set start speed to a set end speed, e.g. the target simulator distance is fixed (r=r_fix), the speed set by the target simulator is changed in steps V step from the start speed v_start to the end speed v_end (v=v_start: V step: v_end), and radar echoes are obtained for the target simulator to set a fixed distance but different speeds.

Step 204, respectively determining a range-doppler spectrogram corresponding to each group of radar echo signals, and obtaining a first parameter index value set and a second parameter index value set of the target simulator in the range-doppler spectrogram; the first parameter index value set has a corresponding first estimated parameter error, and the second parameter index value set has a corresponding second estimated parameter error.

The range-doppler spectrum can be understood as being determined after incoherent accumulation of the range-doppler two-dimensional complex power spectrum of each channel. The determining manner of the distance-doppler two-dimensional complex power spectrogram of each channel can be determined by respectively performing fourier transform processing on the distance and the doppler dimension of the acquired radar echo of each channel, and the specific implementation manner can be realized in an existing manner and is not described herein.

The first parameter index value set may be a parameter index value set determined in the case where the simulation parameter is a distance parameter, and the second parameter index value set may be a parameter index value set determined in the case where the simulation parameter is a speed parameter. Each first parameter index value in the first parameter index value set has a corresponding first estimated parameter, which may be understood that the first parameter index value set includes a plurality of first distance unit index values and a plurality of first speed unit index values, each first distance unit index value has a corresponding first estimated distance, and each first speed unit index value has a corresponding first estimated speed. Each second parameter index value in the second parameter index value set has a corresponding second estimated parameter, which can be understood as that the second parameter index value set includes a plurality of second distance unit index values and a plurality of second speed unit index values, each second distance unit index value has a corresponding second estimated distance, and each second speed unit index value has a corresponding second estimated speed. The first estimation parameter error includes a distance error and a first speed error. The second estimation parameter error includes a second speed error.

Specifically, after radar returns corresponding to each set of simulation parameters are obtained, fourier transform processing is performed on the distance and the doppler dimensions of each set of radar returns, a distance-doppler two-dimensional complex power spectrogram of each channel is obtained, incoherent accumulation is performed among channels, a distance-doppler spectrogram corresponding to each set of radar wave signals is obtained, two-dimensional constant false alarm detection is performed on the distance-doppler spectrogram corresponding to each set of radar wave signals, and a parameter index value set corresponding to the mesh simulator on the two-dimensional spectrogram corresponding to each set of simulation parameters is obtained.

Step 206, performing step frequency modulation waveform parameter correction based on the first parameter index value set, and obtaining a corrected first waveform parameter and a corrected second waveform parameter when the first estimated parameter error is within a first preset error range.

It can be understood that, in consideration of improving radar performance and meeting the requirements of actual scenes, improving the accuracy of radar speed and distance measurement, starting from the source of the induced speed and distance measurement error and the reduced processing amount of data, the step frequency modulation waveform parameters are adjusted according to the set sequence, and in consideration of the requirements of radar performance, the embodiment adjusts the first waveform parameters and the second waveform parameters first. Wherein the first waveform parameter may be a frequency modulation slope and the second waveform parameter may be a step frequency. The first preset error range includes a first preset distance error range and a first preset speed error range.

Specifically, corresponding first estimated distances are determined according to a plurality of first distance unit index values in the first parameter index value set under different distances, and step frequency modulation waveform parameter correction is performed according to the plurality of first estimated distances and the corresponding first actual distances. It will be appreciated that the correction of the first waveform parameter may be substantially performed such that the frequency modulation slope after correction is obtained when the first distance error between the first estimated distance and the corresponding first actual distance is within the first predetermined distance error range. The first distance error that ensures the first estimated distance and the corresponding first actual distance are within the first preset distance error range may be determined by fitting according to a loss function that includes the first waveform parameter based on the argument parameter, or may be determined according to a preset loss function.

After the corrected frequency modulation slope is determined, step frequency modulation waveform parameter correction is performed according to the corrected frequency modulation slope, a plurality of first distance unit index values at different distances in a first parameter index value set, and respective corresponding first speed unit index values. It will be appreciated that the correction of the second waveform parameter may be substantially such that the corrected step frequency is obtained when the first speed error between the first estimated speed and the corresponding first actual speed is within the first predetermined speed error range. The first speed error between the first estimated speed and the corresponding first actual speed is determined in a first preset speed error range, that is, the first speed error is determined according to the first actual speed corresponding to each first estimated speed, and the initial step frequency is adjusted to make the first speed error of the target speed changing along with the distance be in the first preset speed error range; or by a preset functional relation.

Step 208, performing step frequency modulation waveform parameter correction based on the first waveform parameter, the second waveform parameter and the second parameter index value set, and obtaining a corrected third waveform parameter when the second estimated parameter error is within a second preset error range.

The second parameter index value set comprises a second distance unit index value set and a second speed unit index value set. The manner of determining the second distance unit index value and the second speed unit index value may be implemented in the foregoing manner, which is not described herein. The third waveform parameter may be a sweep period. The second estimated parameter error comprises a second speed error and the second preset error range comprises a second preset speed error range.

Specifically, when the third waveform parameter of the step-up frequency modulation waveform parameters is corrected according to the corrected frequency modulation slope, the corrected step frequency, the second distance unit index value set and the second speed unit index value set, considering that the second parameter index value set is determined when the distance of the target simulator is the set distance and the target simulator is set at the speed parameter set, the third waveform parameter is corrected, which can be understood to be the essence of the third waveform parameter obtained when the second speed error is within the second preset speed error range, and can be determined as the corrected sweep period. The second speed error in the second preset speed error range may be determined by determining a corresponding second estimated speed based on the corrected fm slope, the corrected step frequency, the plurality of second distance unit index values, and the plurality of second speed unit index values, and adjusting the second speed error between the second estimated speed and the second actual speed.

In the method for processing the frequency modulation waveform parameters, at least two groups of simulation parameters of different types are set through the target simulator, radar echo signals under the simulation parameters of different types are collected, and the range-Doppler spectrograms corresponding to the radar echo signals under the simulation parameters of different types are obtained. Further, corresponding parameter index value sets are obtained according to the distance Doppler spectrogram, the stepping frequency modulation waveform parameters are sequentially corrected according to the set sequence, deviation between waveform parameters used in radar echo signal processing and actual waveform parameters is eliminated, mutual coupling between the stepping frequency modulation waveform parameters is considered, speed measurement and distance measurement accuracy is improved, further, a large number of data processing analysis is not needed to obtain a distance compensation coefficient and a speed compensation coefficient, and data processing capacity is reduced.

It can be understood that two groups of simulation parameters with different types can be set according to actual application requirements, and then radar echo signals under corresponding conditions are acquired respectively aiming at each group of simulation parameters.

In one embodiment, the simulation parameters include a distance parameter and a speed parameter, and acquiring radar echo signals corresponding to at least two different types of simulation parameters when the target simulator sets at least two different types of simulation parameters specifically includes: acquiring radar echo signals corresponding to each distance parameter in the distance parameter set under the condition that the speed of the target simulator is at a set speed and the target simulator is arranged in the distance parameter set; and acquiring radar echo signals corresponding to each speed parameter in the speed parameter set under the condition that the distance of the target simulator is the set distance and the target simulator is arranged in the speed parameter set.

The method for acquiring the radar echo signal may be implemented in an existing manner, which is not described herein. The set speed can be zero or can be set according to actual requirements. The set distance can be set according to actual requirements.

Further, in the case of setting two sets of simulation parameters, when acquiring the corresponding radar echo signals, in order to improve the speed and distance measurement accuracy of the radar and consider the coupling between the parameters, it is necessary to determine the parameter index value set of the target simulator in the range-doppler spectrogram.

In one embodiment, determining a range-doppler spectrum corresponding to a radar wave signal corresponding to each group of analog parameters respectively, and obtaining a set of parameter index values of a target simulator in each range-doppler spectrum includes: determining a first range-Doppler spectrogram corresponding to the radar echo signals corresponding to the range-parameter set, and acquiring a first parameter index value set of the target simulator in the first range-Doppler spectrogram; and determining a second range-Doppler spectrogram corresponding to the radar echo signals corresponding to the speed parameter set, and acquiring a second parameter index value set of the target simulator in the second range-Doppler spectrogram.

When the waveform parameters of the stepping frequency modulation waveform parameters are corrected, a proper correction mode can be determined according to actual requirements.

In one embodiment, as shown in fig. 3, a method for correcting a first waveform parameter and a second waveform parameter is provided, including the steps of:

step 302, determining a first estimated distance corresponding to each first range bin index value in the first range-bin index value set from the first range-doppler spectrogram.

Specifically, after radar echo signals of each channel are acquired, the distance is compared with the sumAnd (4) performing FFT on Doppler dimensions respectively to obtain a distance-Doppler two-dimensional complex power spectrogram of each channel. After incoherent accumulation is carried out among channels, two-dimensional constant false alarm detection is carried out, and a first distance unit index value and a first speed unit index value corresponding to the target simulator on a two-dimensional spectrogram are obtained; according to the first distance unit index value, the corresponding first estimated distance is obtained, and the estimated distance vectors can be determined by a plurality of first estimated distances, and can be expressed as:

wherein M is the number of different distances set for the target simulator.

Step 304, determining a distance error between each first estimated distance and each corresponding first actual distance, and obtaining a corrected frequency modulation slope when the distance error is within a first preset distance error range.

Specifically, a corresponding actual distance vector is determined according to a corresponding first actual distance, a corresponding distance error is determined according to the actual distance vector and an estimated distance vector, the distance error is fitted, and when the distance error is within a first preset distance error range, a corrected frequency modulation slope is obtained. Wherein, the step of determining the corrected frequency modulation slope, as shown in fig. 4, comprises the following steps:

step 402, determining a loss function between each first estimated distance and a first actual distance corresponding to each first estimated distance; the argument parameter of the loss function comprises a first waveform parameter.

Specifically, an estimated distance vector may be determined from the plurality of first estimated distances

And the corresponding first actual distance determines the corresponding actual distance vector +.>

. Obtaining a frequency modulation slope correction coefficient a and a camera bellows fixed distance compensation value +.>

. The parameters to be fitted are recorded as +.>

At the same time let->

Wherein->

Is->

Therefore, the loss function can be expressed as:

/>

wherein X is M

2, matrix of->

2->

Vector of 1>

Represents->

Norms. Let the loss function be relative->

The gradient of (2) is

The following relationship can be obtained: / >

。

And step 404, fitting each distance error based on the loss function, and obtaining a target fitting parameter under the condition that the distance error is within a first preset distance error range.

It can be understood that the target fitting parameters directly obtained by fitting the distance errors based on the loss function satisfy that the distance errors are within a first preset distance error range.

Specifically, the distance error is fitted based on the loss function, and a target fitting parameter under the condition that the distance error is within a first preset distance error range is obtained. Wherein the target fitting parameters comprise a frequency modulation slope correction coefficient after fitting as follows

The fixed distance compensation value of the camera bellows is +.>

That is, optionally, the distance error is fitted based on the loss function, and in the case that the distance error is within the first preset distance error range, a fixed distance compensation value of the camera bellows may also be determined, or may be simply referred to as a distance compensation value.

Step 406, determining the corrected frequency modulation slope according to the target fitting parameters.

Specifically, the corrected chirp rate is used based on the fitted correction factor for the chirp rate and the initial chirp rate corrected chirp rate

Wherein->

. In consideration of the problem of mutual coupling between distance estimation and speed estimation caused by using a stepping chirp waveform, the stepping frequency is corrected on the basis of correcting the frequency modulation slope.

Step 306, obtaining the wavelength, the center frequency and the number of sweep frequency periods of the stepping frequency modulation waveform.

Step 308, determining a first estimated speed corresponding to each first speed unit index value in the first speed unit index value set based on the wavelength, the center frequency, the number of sweep cycles, the frequency modulation slope, the first distance unit index value set, and the first speed unit index value set.

Step 310, determining a first speed error of each first estimated speed and a corresponding first actual speed, and obtaining a corrected step frequency when the first speed error is within a first preset speed error range.

It will be appreciated that when the step frequency is corrected, the corresponding initial estimated speed is determined according to the initial step frequency, the wavelength, the center frequency, the number of sweep cycles, the corrected frequency modulation slope, the first distance unit index value set and the first speed unit index value set, and if the first speed error of the initial estimated speed and the corresponding first actual speed is not within the first preset speed error range, the step frequency is continuously corrected until the corrected step frequency is obtained in the case that the first speed error is within the first preset speed error range.

Specifically, after the corrected frequency modulation slope is determined, speed solving is performed according to the corrected frequency modulation slope, a plurality of first distance unit index values under different distances in a first parameter index value set and respective corresponding first speed unit index values, a first estimated speed corresponding to each speed unit index value is obtained, a first speed error between the first estimated speed and the respective corresponding first actual speed is determined according to the plurality of first estimated speeds, and the initial stepping frequency is adjusted to enable the target speed estimated error which changes along with the distance to be parallel to a horizontal axis of a coordinate system, so that the corrected stepping frequency is obtained.

In other words, the corrected chirp rate is used

Wherein->

And performing speed calculation on the first distance unit index value and the first speed unit index value to obtain a first estimated speed; obtaining a target speed estimation error map between a first estimated speed and a first actual speed as a function of a target simulator set distance, adjusting a step frequency +.>

So that the target speed estimation error varying with the distance is parallel to the horizontal axis of the coordinate system, the corrected step frequency +.>

。

In the above embodiment, when the accuracy of the radar speed measurement and ranging is adjusted, the waveform parameter correction method is performed by taking the source causing the speed measurement and ranging error as the access point, and the frequency adjustment slope is corrected and then the step frequency is adjusted, so that the coupling between waveform parameters is considered, the deviation between the waveform parameters used in the signal processing flow and the actual waveform configuration parameters is eliminated, and the reliability and accuracy of waveform parameter adjustment are ensured.

In another embodiment, as shown in fig. 5, a method for correcting a first waveform parameter and a second waveform parameter is provided, including the following steps:

step 502, determining a first estimated distance corresponding to each first range bin index value in the first range bin index value set from the first range-doppler spectrogram when the first estimated parameter error is within a first preset error range.

The determining the first estimated distance corresponding to the index value of the first distance unit may be implemented in the above manner, which is not described herein.

And 504, performing bias guide on the independent variable parameters in the preset loss function based on the preset loss function, the first estimated distance and the first actual distance corresponding to the first estimated distance, and obtaining a target independent variable parameter value when the loss function value of the preset loss function is minimum.

The independent variable parameters include a frequency modulation slope correction coefficient and a camera bellows fixed distance compensation value, the camera bellows fixed distance compensation value can also be simply called a fixed distance compensation value, and the preset loss function can be expressed as:

for the first estimated distance, +.>

For the first actual distance, m represents the number of distance element index values, +. >

For the correction coefficient of the frequency modulation slope,/>

For the camera bellows fixed distance compensation value, it will be appreciated that the determination of the preset loss function takes into account that the distance error is within a first preset distance error range.

Due to loss function

Is about the correction coefficient of frequency modulation slope->

And camera bellows fixed distance compensation value +.>

Can let the loss function +.>

The correction coefficient of the frequency-changing slope is->

And camera bellows fixed distance compensation value +.>

Respectively obtaining partial derivatives, and making the partial derivatives zero, namely +>

And->

Obtaining a corresponding fitted frequency modulation slope correction coefficient of +.>

，

Fitting the fixed distance compensation value of the camera bellows

：/>

The method comprises the steps of carrying out a first treatment on the surface of the Wherein->

Average value representing distance solution values of all target simulators +.>

I.e. an average of the estimated distances; />

Average value representing actual distance set by setting target simulator +.>

。

Step 506, determining the corrected frequency modulation slope according to the target argument parameter value.

In particular, correction coefficients are corrected according to the chirp rate

Determining a correction deviation of the frequency modulation slope>

Obtaining corrected frequency modulation slope +.>

。

Step 508, determining the corrected step frequency according to the first set of speed unit index values, the wavelength of the step frequency modulation waveform, the center frequency of the step frequency modulation waveform, the number of sweep cycles, and the first estimated distance.

It will be appreciated that since the target simulator remains stationary with the set speed zero, the distance is estimated

The resulting speed change is equal to the speed change from the first speed unit index value. According to the first speed unit index value->

Wavelength of step frequency modulation waveform +.>

Center frequency of step frequency modulation waveform>

And the number K of the sweep frequency periods, the corrected step frequency is obtained as follows:

/>

in the above embodiment, based on the preset loss function, the frequency modulation slope correction coefficient and the camera bellows fixed distance compensation value in the preset loss function are respectively calculated and deflected, and when the loss function value satisfying the preset loss function is minimum, the target independent variable parameter value is determined, and the corrected frequency modulation slope and stepping frequency are directly determined by calculating the deflection of the preset loss function, so that the manual processing operation is reduced, and the parameter correction efficiency is improved.

Step frequency modulation waveform parameter correction is carried out based on the first waveform parameter, the second waveform parameter and the second parameter index value set, and a corrected third waveform parameter is obtained under the condition that the second estimated parameter error is within a second preset error range, wherein the step frequency modulation waveform parameter correction comprises the following two modes:

In one embodiment, as shown in fig. 6, a method for correcting a third waveform parameter is provided, which can be applied to the terminal shown in fig. 1, and includes the following steps:

step 602, determining a second estimated speed corresponding to each second speed unit index value in the second speed unit index value set based on the frequency modulation slope, the step frequency, the second distance unit index value set and the second speed unit index value set.

Step 604, determining a second speed error between each second estimated speed and each corresponding second actual speed, and obtaining a corrected sweep period when the second speed error is within a second preset speed error range.

Wherein the second speed error within the second preset speed error range can be understood as obtaining a target speed estimation error map varying with the target simulator set speed according to the obtained second estimated speed and the second actual speed by adjusting the chirp period

So that the speed-dependent target speed estimation error is parallel to the horizontal axis of the coordinate system; among these, chirp can be understood as a frequency modulated linear continuous wave.

Specifically, using the corrected frequency modulation slope and step frequency, and the second distance unit index value and the second speed unit index value, performing a speed calculation; obtaining a second estimated speed, obtaining a target speed estimation error map according to the set speed of the target simulator according to the obtained second estimated speed and the second actual speed, and adjusting the chirp period

So that the target speed estimation error along with the speed change is parallel to the horizontal axis of the coordinate system, and the corrected sweep frequency period +.>

。

In the above embodiment, when the accuracy of the radar speed and distance measurement is adjusted, the frequency-sweeping period is corrected on the basis of correcting the frequency-modulating slope and the step frequency by firstly correcting the frequency-modulating slope and the step frequency by taking the source causing the speed and distance measurement error as an access point, the problem of mutual coupling between the distance estimation and the speed estimation caused by the step linear frequency-modulating waveform is considered, and the accuracy of the radar speed and distance measurement is ensured by correcting waveform parameters in turn.

In another embodiment, as shown in fig. 7, a method for correcting a third waveform parameter is provided, which can be applied to the terminal shown in fig. 1, and includes the following steps:

step 702, determining a corresponding second estimated distance according to each second distance unit index value in the second distance unit index value set when the second speed error is within a second preset speed error range.

Step 704, obtaining the wavelength, the center frequency and the number of sweep frequency periods of the step frequency modulation waveform.

Step 706, obtaining a corrected sweep period according to the second estimated distance, the corrected frequency modulation slope, the corrected step frequency, the second parameter index value set, the wavelength, the center frequency and the number of sweep periods.

Specifically, different speeds are set for each target simulator

Respectively performing a distance and Doppler FFT on the echo signals to obtain a distance-Doppler two-dimensional power spectrogram of each receiving channel. The second distance unit index value +_ of the target simulator is obtained by carrying out incoherent integration and two-dimensional constant false alarm detection on the two-dimensional spectrograms of all the receiving channels>

And a second speed unit index value +>

The method comprises the steps of carrying out a first treatment on the surface of the From the second distance unit index value, a second estimated distance of the target simulator can be calculated

The method comprises the steps of carrying out a first treatment on the surface of the According to the second speed unit index value +.>

SteppingWavelength>

Center frequency of step frequency modulation waveform>

The number of sweep cycles K, the corrected frequency modulation slope +.>

And corrected step frequency +.>

Can obtain corrected chirp period +.>

The method comprises the following steps:

in the above embodiment, the frequency-modulation slope and the step frequency are corrected by using the source causing the velocity measurement and ranging error as the cut-in point, and the corrected frequency-sweep period is directly determined according to the second estimated distance, the corrected frequency-modulation slope, the corrected step frequency, the second parameter index value set, the wavelength, the center frequency and the number of frequency-sweep periods on the basis of correcting the frequency-modulation slope and the step frequency, so that manual debugging is not required, and the efficiency of parameter correction is improved.

In another example, as shown in fig. 8, a processing method of a fm waveform parameter is provided, and the method is applied to the terminal in fig. 1 for illustration, and includes the following steps:

step 802, acquiring radar echo signals corresponding to each distance parameter in the distance parameter set when the speed of the target simulator is at the set speed and the target simulator is set in the distance parameter set.

Step 804, determining a first range-doppler spectrum corresponding to the radar echo signal corresponding to the range-parameter set, and obtaining a first parameter index value set of the target simulator in the first range-doppler spectrum.

Step 806, determining a first estimated distance corresponding to each first range bin index value in the first set of range bin index values from the first range-doppler spectrogram.

Step 808, determining a distance error between each first estimated distance and each corresponding first actual distance, and obtaining a corrected fm slope when the distance error is within a first predetermined distance error range.

Step 810, obtaining the wavelength, the center frequency and the number of sweep frequency periods of the stepping frequency modulation waveform.

Step 812, determining a first estimated speed corresponding to each first speed unit index value in the first speed unit index value set based on the wavelength, the center frequency, the number of sweep cycles, the frequency modulation slope, the first distance unit index value set, and the first speed unit index value set.

Step 814, determining a first speed error of each first estimated speed and a corresponding first actual speed, and obtaining a corrected step frequency if the first speed error is within a first preset speed error range.

In step 816, in the case that the distance of the target simulator is the set distance and the target simulator is set in the speed parameter set, the radar echo signals corresponding to each speed parameter in the speed parameter set are obtained.

Step 818, determining a second range-doppler spectrogram corresponding to the radar echo signal corresponding to the velocity parameter set, and obtaining a second parameter index value set of the target simulator in the second range-doppler spectrogram.

Step 820, determining a second estimated speed corresponding to each second speed unit index value in the second speed unit index value set based on the chirp rate, the step frequency, the second distance unit index value set, and the second speed unit index value set.

Step 822, determining a second speed error between each second estimated speed and each corresponding second actual speed, and obtaining a corrected sweep period when the second speed error is within a second preset speed error range.

For example, the waveform parameters actually configured are: the transmit waveform has 512 chips per frame, each chip having 256 points and a sampling frequency of 8.2MHz. Frequency modulation slope of

The step frequency between chirp is +.>

The initial frequency is->

The chirp period is t_chirp=36.5 +.>

。

Collecting a first set of radar echo signals: the target simulator is stationary (v=0 m/s), and the target simulator distance increases from 15m to 165m in 10m steps (r=15m:10m:165 m) for a total of 16 different distances. Correction of the frequency modulation slope and the step frequency is carried out in the above manner, and the fixed distance compensation value of the camera bellows is determined

The method can be summarized as follows:

the first step, performing polynomial fitting of distance dimension according to the acquired radar wave signals to obtain fitting parameters

m and the frequency modulation slope correction coefficient a=0.0011, the target simulator distance estimation error before correction and the target simulator distance estimation error after correction are shown in fig. 9.

Second, using the corrected frequency modulation slope

Wherein->

And the first distance index value and the first speed index value are used for speed estimation, and the comparison before and after correction is shown in fig. 10.

Third stepStep, obtaining a target simulator speed estimation error graph changing along with the real distance, and adjusting the stepping frequency

The speed estimation error of the target simulator changing along with the real distance is parallel to a horizontal coordinate system, and the corrected stepping frequency is obtained

The comparison before and after the step slope correction is shown in fig. 11.

Collecting a second set of radar echo signals: the target simulator distance is fixed (r=25m), and the target simulator speed increases from-90 m/s to 90m/s with 10m/s as step length (v= -90m/s:10m/s:90 m/s) for 19 different speeds in total. Using corrected chirp rate

And step frequency->

A target simulator velocity estimation error map is obtained that varies with true velocity. Fine tuning the chirp period so that the target simulator speed estimation error varying with the real speed is parallel to the horizontal coordinate system, obtaining a corrected chirp period t_chirp= 36.525 +.>

. The comparison of the Chirp cycle before and after correction is shown in FIG. 12. And finally, outputting the required corrected waveform parameters: frequency modulation slope->

Step frequency->

And a chirp period t_chirp, the distance and speed of the target being estimated from the corrected waveform parameters.

In the above embodiment, two sets of simulation parameters of different types are set by the target simulator, and radar echo signals under the simulation parameters of different types are collected, so as to obtain range-doppler spectrograms corresponding to the radar echo signals under the simulation parameters of different types. Further, corresponding parameter index value sets are obtained according to the range-Doppler spectrogram, estimated parameters corresponding to different types of simulation parameters are respectively determined through the parameter index value sets, waveform parameters are sequentially corrected according to the obtained estimated parameters and actual parameters and a set sequence, deviation between the waveform parameters used in radar wave signal processing and the actual waveform parameters is eliminated, speed measurement and ranging precision is improved, a large amount of data processing and analysis are not needed to obtain a distance compensation coefficient and a speed compensation coefficient, only two groups of data are needed to obtain waveform parameter systematic deviation, data demand is small, data processing amount is reduced, and implementation is convenient.

In another example, as shown in fig. 13, a processing method of a fm waveform parameter is provided, and the method is applied to the terminal in fig. 1 for illustration, and includes the following steps:

in step 1302, when the speed of the target simulator is at the set speed and the target simulator is set in the distance parameter set, a radar echo signal corresponding to each distance parameter in the distance parameter set is obtained.

In step 1304, a first range-doppler spectrum corresponding to the radar echo signal corresponding to the range-parameter set is determined, and a first set of parameter index values of the target simulator in the first range-doppler spectrum is obtained.

In step 1306, a first estimated distance corresponding to each first range bin index value in the first range bin index value set is determined from the first range-doppler spectrogram if the first estimated parameter error is within a first preset error range.

Step 1308, performing bias derivative on the independent variable parameter in the preset loss function based on the preset loss function, the first estimated distance and the first actual distance corresponding to the first estimated distance, and obtaining the target independent variable parameter value when the loss function value of the preset loss function is minimum.

Step 1310, determining a modified chirp rate based on the target argument parameter value.

Step 1312, determining the corrected step frequency according to the first set of speed unit index values, the wavelength of the step frequency modulation waveform, the center frequency of the step frequency modulation waveform, the number of sweep cycles, and the first estimated distance.

In step 1314, radar echo signals corresponding to each speed parameter in the speed parameter set are obtained when the distance of the target simulator is the set distance and the target simulator is set in the speed parameter set.

Step 1316, determining a second range-doppler spectrogram corresponding to the radar echo signal corresponding to the velocity parameter set, and obtaining a second set of parameter index values of the target simulator in the second range-doppler spectrogram.

Step 1318, determining a corresponding second estimated distance according to each second distance unit index value in the second set of distance unit index values if the second speed error is within the second preset speed error range.

Step 1320, the wavelength and the center frequency of the step frequency modulation waveform and the number of sweep cycles are obtained.

Step 1322, obtaining a corrected sweep period according to the second estimated distance, the corrected fm slope, the corrected step frequency, the second set of parameter index values, the wavelength, the center frequency, and the number of sweep periods.

The following is an application scenario of the method:

for example, the waveform parameters actually configured are: the transmit waveform transmits k=512 chips per frame, each chip having 512 points and a sampling frequency of 30MHz. Frequency modulation slope of

Step frequency between chirps is

The initial frequency is->

The chirp period is +.>

。

Collecting a first set of radar echo signals: the target simulator remains stationary (v=0m/s), sets m=13 different distances r=15m:10m:135M, and acquires radar echo signals at different distances, respectively. Correction of the chirp rate and step frequency in the manner described above can be summarized as:

the first step, a polynomial fitting is carried out on the distance dimension by using a least square method to obtain a frequency modulation slope correction coefficient after fitting

And the fitted camera bellows fixed distance compensation value +.>

。

Second, correcting the coefficient by the frequency modulation slope after fitting

Can obtain corrected frequency modulation slope

The comparison of the frequency modulation slope before and after correction and the camera bellows fixed distance compensation is shown in fig. 14.

Third, since the target simulator remains stationary, the following formula can be used:

obtain corrected step frequency +.>

The comparison before and after the step frequency correction is shown in fig. 15.

Collecting a second set of radar echo signals: the target simulator is set to be R=25m, N=19 different speeds V= -90m/s, 10m/s and 90m/s are set, and radar echo signals at different speeds are respectively acquired. Based on the sweep frequency period correction mode, the corrected frequency modulation slope and the step frequency are brought into a formula

The corrected chirp period can be obtained, and the comparison of the chirp period before and after correction is shown in fig. 16.

In the above embodiment, two groups of simulation parameters of different types are set by the target simulator, radar echo signals under the simulation parameters of different types are acquired, a range-doppler spectrogram corresponding to the radar echo signals under the simulation parameters of different types is obtained, respective corresponding parameter index value sets are obtained according to the range-doppler spectrogram, the step-by-step frequency modulation waveform parameters are automatically corrected in turn according to a set sequence, manual adjustment is not needed to correct on the basis of considering the mutual coupling between the step-by-step frequency modulation waveform parameters, the deviation between the waveform parameters used in radar echo signal processing and actual waveform parameters is eliminated, and the parameter correction efficiency is further improved on the basis of improving the speed and distance measurement precision.

It should be understood that, although the steps in the flowcharts related to the above embodiments are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a processing device for realizing the processing method of the frequency modulation waveform parameters. The implementation of the solution provided by the apparatus is similar to the implementation described in the above method, so the specific limitation in the embodiments of the processing apparatus for one or more fm waveform parameters provided below may refer to the limitation of the processing method for fm waveform parameters hereinabove, and will not be repeated herein.

In one embodiment, as shown in fig. 17, there is provided a processing apparatus for frequency-modulated waveform parameters, including: a signal acquisition module 1702, a signal processing module 1704, and a waveform parameter processing module 1706, wherein:

the signal acquisition module 1702 is configured to acquire radar echo signals corresponding to at least two sets of different types of simulation parameters when the target simulator sets the at least two sets of different types of simulation parameters;

the signal processing module 1704 is configured to determine a range-doppler spectrogram corresponding to each set of radar echo signals, and obtain a first parameter index value set and a second parameter index value set of the target simulator in the range-doppler spectrogram; the first parameter index value set has a corresponding first estimated parameter error, and the second parameter index value set has a corresponding second estimated parameter error;

The waveform parameter processing module 1706 is configured to perform step frequency modulation waveform parameter correction based on the first parameter index value set, and obtain a corrected first waveform parameter and a corrected second waveform parameter when the first estimated parameter error is within a first preset error range;

In the above embodiment, at least two sets of simulation parameters of different types are set by the target simulator, and radar echo signals under the simulation parameters of different types are collected, so as to obtain range-doppler spectrograms corresponding to the radar echo signals under the simulation parameters of different types. Further, corresponding parameter index value sets are obtained according to the distance Doppler spectrogram, the stepping frequency modulation waveform parameters are sequentially corrected according to the set sequence, deviation between waveform parameters used in radar echo signal processing and actual waveform parameters is eliminated, mutual coupling between the stepping frequency modulation waveform parameters is considered, speed measurement and distance measurement accuracy is improved, further, a large number of data processing analysis is not needed to obtain a distance compensation coefficient and a speed compensation coefficient, and data processing capacity is reduced.

In another embodiment, a processing device for frequency-modulated waveform parameters is provided, which includes, in addition to the signal acquisition module 1702, the signal processing module 1704 and the waveform parameter processing module 1706: a distance determination module and a speed determination module, wherein:

the signal acquisition module 1702 is further configured to acquire radar echo signals corresponding to each distance parameter in the distance parameter set when the speed of the target simulator is at the set speed and the target simulator is set in the distance parameter set; and

and under the condition that the distance of the target simulator is the set distance and the target simulator is arranged in the speed parameter set, acquiring radar echo signals corresponding to each speed parameter in the speed parameter set.

The signal processing module 1704 is further configured to determine a first range-doppler spectrogram corresponding to the radar echo signal corresponding to the range-parameter set, and obtain a first parameter index value set of the target simulator in the first range-doppler spectrogram; and determining a second range-Doppler spectrogram corresponding to the radar echo signals corresponding to the speed parameter set, and acquiring a second parameter index value set of the target simulator in the second range-Doppler spectrogram.

And the distance determining module is used for determining a first estimated distance corresponding to each first distance unit index value in the first distance unit index value set from the first distance Doppler spectrogram.

The waveform parameter processing module 1706 is further configured to determine a distance error between each first estimated distance and each corresponding first actual distance, and obtain a corrected fm slope when the distance error is within a first predetermined distance error range.

The speed determining module is also used for obtaining the wavelength, the center frequency and the number of sweep frequency periods of the stepping frequency modulation waveform; and determining a first estimated speed corresponding to each first speed unit index value in the first speed unit index value set based on the wavelength, the center frequency, the number of sweep cycles, the frequency modulation slope, the first distance unit index value set and the first speed unit index value set.

The waveform parameter processing module 1706 is further configured to determine a first speed error for each first estimated speed and each corresponding first actual speed, and obtain a corrected step frequency if the first speed error is within a first preset speed error range.

The waveform parameter processing module 1706 is further configured to determine a loss function between each first estimated distance and a first actual distance corresponding to each first estimated distance; the argument parameter of the loss function comprises a first waveform parameter;

fitting each distance error based on a loss function, and obtaining a target fitting parameter under the condition that the distance error is within a first preset distance error range; and determining the corrected frequency modulation slope according to the target fitting parameters.

And the distance determining module is used for determining a first estimated distance corresponding to each first distance unit index value in the first distance unit index value set from the first distance Doppler spectrogram under the condition that the first estimated parameter error is within a first preset error range.

The waveform parameter processing module 1706 is further configured to bias the argument parameter in the preset loss function based on the preset loss function, the first estimated distance, and the first actual distance corresponding to the first estimated distance, and obtain a target argument parameter value when the loss function value of the preset loss function is minimum; determining a corrected frequency modulation slope according to the target independent variable parameter value; and determining the corrected step frequency according to the first speed unit index value set, the wavelength of the step frequency modulation waveform, the center frequency of the step frequency modulation waveform, the number of sweep frequency periods and the first estimated distance.

The speed determining module is used for determining a second estimated speed corresponding to each second speed unit index value in the second speed unit index value set based on the frequency modulation slope, the stepping frequency, the second distance unit index value set and the second speed unit index value set.

The waveform parameter processing module 1706 is further configured to determine a second speed error between each second estimated speed and each corresponding second actual speed, and obtain a corrected sweep period when the second speed error is within a second preset speed error range.

The distance determining module is configured to determine, according to each second distance unit index value in the second distance unit index value set, a corresponding second estimated distance when the second speed error is within a second preset speed error range.

The waveform parameter processing module 1706 is further configured to obtain a wavelength, a center frequency, and a number of sweep cycles of the step frequency modulation waveform; and obtaining the corrected sweep frequency period according to the second estimated distance vector, the corrected frequency modulation slope, the corrected stepping frequency, the second parameter index value set, the wavelength, the central frequency and the number of sweep frequency periods.

The above-mentioned processing means of the frequency modulated waveform parameters may be implemented in whole or in part by software, hardware or a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a terminal, and the internal structure thereof may be as shown in fig. 18. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method of processing parameters of a frequency modulated waveform. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by those skilled in the art that the structure shown in fig. 18 is merely a block diagram of a portion of the structure associated with the present application and is not limiting of the computer device to which the present application is applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.

In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.

In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.

It should be noted that, user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (MagnetoresistiveRandom Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include Random access memory (Random AccessMemory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can take many forms, such as static Random access memory (Static Random Access Memory, SRAM) or Dynamic Random access memory (Dynamic Random AccessMemory, DRAM), among others. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.

Claims

1. A method for processing parameters of a frequency modulated waveform, the method comprising:

2. The method of claim 1, wherein the simulation parameters include a distance parameter and a speed parameter; under the condition that the target simulator sets at least two groups of simulation parameters of different types, acquiring radar echo signals corresponding to the simulation parameters of the at least two groups of simulation parameters respectively, wherein the method comprises the following steps:

3. The method of claim 2, wherein determining range-doppler spectra corresponding to each set of radar echo signals, respectively, results in a first set of parameter index values and a second set of parameter index values for the target simulator in the range-doppler spectra, comprising:

4. The method of claim 3, wherein the first set of parameter index values comprises a first set of distance unit index values and a first set of speed unit index values; the first preset error range comprises a first preset distance error range and a first preset speed error range; the first estimation parameter error includes a distance error and a first speed error;

determining a distance error of each first estimated distance and a corresponding first actual distance, and obtaining a corrected frequency modulation slope when the distance error is within the first preset distance error range;

and determining a first speed error of each first estimated speed and each corresponding first actual speed, and obtaining a corrected stepping frequency under the condition that the first speed error is within the first preset speed error range.

5. The method of claim 4, wherein determining a distance error for each of the first estimated distances and the corresponding first actual distances, when the distance error is within a first predetermined distance error range, obtains a modified chirp rate comprising:

fitting each distance error based on the loss function, and obtaining a target fitting parameter under the condition that the distance error is within the first preset distance error range;

6. A method according to claim 3, wherein the first set of parameter index values comprises a first set of distance unit index values and a first set of speed unit index values, the first predetermined error range comprising a first predetermined distance error range and a first predetermined speed error range; the first estimation parameter error includes a distance error and a first speed error;

7. The method of claim 4, wherein the second set of parameter index values comprises a second set of distance unit index values and a second set of speed unit index values, the second preset error range comprising a second preset speed error range; the second estimated parameter error comprises a second speed error;

8. The method of claim 6, wherein the second set of parameter index values comprises a second set of distance unit index values and a second set of speed unit index values, the second estimated parameter error comprising a second preset speed error range; the second preset error range includes a second preset speed error range; the second estimated parameter error comprises a second speed error;

and obtaining the corrected sweep frequency period according to the second estimated distance, the corrected frequency modulation slope, the corrected stepping frequency, the second parameter index value set, the wavelength, the central frequency and the number of sweep frequency periods.

9. A processing apparatus for frequency modulated waveform parameters, the apparatus comprising:

10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 8 when the computer program is executed.